A subsystem that uses a ProfiledPIDController to control an output. More...

#include <frc2/command/ProfiledPIDSubsystem.h>

Inheritance diagram for frc2::ProfiledPIDSubsystem< Distance >:

Public Member Functions
	ProfiledPIDSubsystem (frc::ProfiledPIDController< Distance > controller, Distance_t initialPosition=Distance_t{0})
	Creates a new ProfiledPIDSubsystem. More...

void	Periodic () override
	This method is called periodically by the CommandScheduler. More...

void	SetGoal (State goal)
	Sets the goal state for the subsystem. More...

void	SetGoal (Distance_t goal)
	Sets the goal state for the subsystem. More...

virtual void	Enable ()
	Enables the PID control. More...

virtual void	Disable ()
	Disables the PID control. More...

bool	IsEnabled ()
	Returns whether the controller is enabled. More...

frc::ProfiledPIDController< Distance > &	GetController ()
	Returns the ProfiledPIDController. More...

Public Member Functions inherited from frc2::SubsystemBase
void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object. More...

std::string	GetName () const override
	Gets the name of this Subsystem. More...

void	SetName (std::string_view name)
	Sets the name of this Subsystem. More...

std::string	GetSubsystem () const
	Gets the subsystem name of this Subsystem. More...

void	SetSubsystem (std::string_view name)
	Sets the subsystem name of this Subsystem. More...

void	AddChild (std::string name, wpi::Sendable *child)
	Associate a Sendable with this Subsystem. More...

Public Member Functions inherited from frc2::Subsystem
virtual	~Subsystem ()

virtual void	Periodic ()
	This method is called periodically by the CommandScheduler. More...

virtual void	SimulationPeriodic ()
	This method is called periodically by the CommandScheduler. More...

virtual std::string	GetName () const
	Gets the name of this Subsystem. More...

template<std::derived_from< Command > T>
void	SetDefaultCommand (T &&defaultCommand)
	Sets the default Command of the subsystem. More...

void	SetDefaultCommand (CommandPtr &&defaultCommand)
	Sets the default Command of the subsystem. More...

void	RemoveDefaultCommand ()
	Removes the default command for the subsystem. More...

Command *	GetDefaultCommand () const
	Gets the default command for this subsystem. More...

Command *	GetCurrentCommand () const
	Returns the command currently running on this subsystem. More...

void	Register ()
	Registers this subsystem with the CommandScheduler, allowing its Periodic() method to be called when the scheduler runs. More...

CommandPtr	RunOnce (std::function< void()> action)
	Constructs a command that runs an action once and finishes. More...

CommandPtr	Run (std::function< void()> action)
	Constructs a command that runs an action every iteration until interrupted. More...

CommandPtr	StartEnd (std::function< void()> start, std::function< void()> end)
	Constructs a command that runs an action once and another action when the command is interrupted. More...

CommandPtr	RunEnd (std::function< void()> run, std::function< void()> end)
	Constructs a command that runs an action every iteration until interrupted, and then runs a second action. More...

CommandPtr	Defer (wpi::unique_function< CommandPtr()> supplier)
	Constructs a DeferredCommand with the provided supplier. More...

Public Member Functions inherited from wpi::Sendable
virtual	~Sendable ()=default

virtual void	InitSendable (SendableBuilder &builder)=0
	Initializes this Sendable object. More...

Public Member Functions inherited from wpi::SendableHelper< SubsystemBase >
	SendableHelper (const SendableHelper &rhs)=default

	SendableHelper (SendableHelper &&rhs)

SendableHelper &	operator= (const SendableHelper &rhs)=default

SendableHelper &	operator= (SendableHelper &&rhs)

Protected Member Functions
virtual Distance_t	GetMeasurement ()=0
	Returns the measurement of the process variable used by the ProfiledPIDController. More...

virtual void	UseOutput (double output, State setpoint)=0
	Uses the output from the ProfiledPIDController. More...

Protected Member Functions inherited from frc2::SubsystemBase
	SubsystemBase ()
	Constructor. More...

	SubsystemBase (std::string_view name)
	Constructor. More...

Protected Member Functions inherited from wpi::SendableHelper< SubsystemBase >
	SendableHelper ()=default

	~SendableHelper ()

Protected Attributes
frc::ProfiledPIDController< Distance >	m_controller
	Profiled PID controller. More...

bool	m_enabled {false}
	Whether the profiled PID controller output is enabled. More...

Detailed Description

template<class Distance>
class frc2::ProfiledPIDSubsystem< Distance >

A subsystem that uses a ProfiledPIDController to control an output.

The controller is run synchronously from the subsystem's periodic() method.

This class is provided by the NewCommands VendorDep

See also: ProfiledPIDController

Constructor & Destructor Documentation

◆ ProfiledPIDSubsystem()

template<class Distance >

frc2::ProfiledPIDSubsystem< Distance >::ProfiledPIDSubsystem	(	frc::ProfiledPIDController< Distance >	controller,
		Distance_t	initialPosition = `Distance_t{0}`
	)

inlineexplicit

Creates a new ProfiledPIDSubsystem.

Parameters

controller	the ProfiledPIDController to use
initialPosition	the initial goal position of the subsystem

Member Function Documentation

◆ Disable()

template<class Distance >

virtual void frc2::ProfiledPIDSubsystem< Distance >::Disable ( )

inlinevirtual

Disables the PID control.

Sets output to zero.

◆ Enable()

template<class Distance >

virtual void frc2::ProfiledPIDSubsystem< Distance >::Enable ( )

inlinevirtual

Enables the PID control.

Resets the controller.

◆ GetController()

template<class Distance >

frc::ProfiledPIDController< Distance > & frc2::ProfiledPIDSubsystem< Distance >::GetController ( )

inline

Returns the ProfiledPIDController.

Returns: The controller.

◆ GetMeasurement()

template<class Distance >

virtual Distance_t frc2::ProfiledPIDSubsystem< Distance >::GetMeasurement ( )

protectedpure virtual

Returns the measurement of the process variable used by the ProfiledPIDController.

Returns: the measurement of the process variable

◆ IsEnabled()

template<class Distance >

bool frc2::ProfiledPIDSubsystem< Distance >::IsEnabled ( )

inline

Returns whether the controller is enabled.

Returns: Whether the controller is enabled.

◆ Periodic()

template<class Distance >

void frc2::ProfiledPIDSubsystem< Distance >::Periodic ( )

inlineoverridevirtual

This method is called periodically by the CommandScheduler.

Useful for updating subsystem-specific state that you don't want to offload to a Command. Teams should try to be consistent within their own codebases about which responsibilities will be handled by Commands, and which will be handled here.

Reimplemented from frc2::Subsystem.

◆ SetGoal() [1/2]

template<class Distance >

void frc2::ProfiledPIDSubsystem< Distance >::SetGoal ( Distance_t goal )

inline

Sets the goal state for the subsystem.

Goal velocity assumed to be zero.

Parameters

goal	The goal position for the subsystem's motion profile.

◆ SetGoal() [2/2]

template<class Distance >

void frc2::ProfiledPIDSubsystem< Distance >::SetGoal ( State goal )

inline

Sets the goal state for the subsystem.

Parameters

goal	The goal state for the subsystem's motion profile.

◆ UseOutput()

template<class Distance >

virtual void frc2::ProfiledPIDSubsystem< Distance >::UseOutput	(	double	output,
		State	setpoint
	)

protectedpure virtual

Uses the output from the ProfiledPIDController.

Parameters

output	the output of the ProfiledPIDController
setpoint	the setpoint state of the ProfiledPIDController, for feedforward

Member Data Documentation

◆ m_controller

template<class Distance >

frc::ProfiledPIDController<Distance> frc2::ProfiledPIDSubsystem< Distance >::m_controller

protected

Profiled PID controller.

◆ m_enabled

template<class Distance >

bool frc2::ProfiledPIDSubsystem< Distance >::m_enabled {false}

protected

Whether the profiled PID controller output is enabled.

The documentation for this class was generated from the following file:

frc2/command/ProfiledPIDSubsystem.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ProfiledPIDSubsystem()

Member Function Documentation

◆ Disable()

◆ Enable()

◆ GetController()

◆ GetMeasurement()

◆ IsEnabled()

◆ Periodic()

◆ SetGoal() [1/2]

◆ SetGoal() [2/2]

◆ UseOutput()

Member Data Documentation

◆ m_controller

◆ m_enabled